ompl::control::StatePropagator Class Reference

Model the effect of controls on system states. More...

#include <ompl/control/StatePropagator.h>

Inheritance diagram for ompl::control::StatePropagator:

Public Member Functions
	StatePropagator (SpaceInformation *si)
	Constructor.
	StatePropagator (const SpaceInformationPtr &si)
	Constructor.
virtual void	propagate (const base::State *state, const Control *control, double duration, base::State *result) const =0
	Propagate from a state, given a control, for some specified amount of time (the amount of time can also be negative, if canPropagateBackward() returns true).
virtual bool	canPropagateBackward () const
	Some systems can only propagate forward in time (i.e., the duration argument for the propagate() function is always positive). If this is the case, this function should return false. Planners that need backward propagation (negative durations) will call this function to check. If backward propagation is possible, this function should return true (this is the default).
virtual double	steer (const base::State *, const base::State *, Control *) const
	Compute the control that can take the system from state from to state to. Store that control in result; the duration for which the control should be applied is returned; return < 0.0 if the computation was successful; return the control duration otherwise;.
virtual bool	canSteer () const
	Return true if the steer() function has been implemented.

Protected Attributes
SpaceInformation *	si_
	The instance of space information this state propagator operates on.

Detailed Description

Model the effect of controls on system states.

Definition at line 61 of file StatePropagator.h.

Constructor & Destructor Documentation

StatePropagator() [1/2]

ompl::control::StatePropagator::StatePropagator ( SpaceInformation * si )

inline

Constructor.

Definition at line 65 of file StatePropagator.h.

StatePropagator() [2/2]

ompl::control::StatePropagator::StatePropagator ( const SpaceInformationPtr & si )

inline

Constructor.

Definition at line 70 of file StatePropagator.h.

Member Function Documentation

canPropagateBackward()

virtual bool ompl::control::StatePropagator::canPropagateBackward ( ) const

inlinevirtual

Some systems can only propagate forward in time (i.e., the duration argument for the propagate() function is always positive). If this is the case, this function should return false. Planners that need backward propagation (negative durations) will call this function to check. If backward propagation is possible, this function should return true (this is the default).

Definition at line 100 of file StatePropagator.h.

canSteer()

virtual bool ompl::control::StatePropagator::canSteer ( ) const

inlinevirtual

Return true if the steer() function has been implemented.

Definition at line 117 of file StatePropagator.h.

propagate()

virtual void ompl::control::StatePropagator::propagate ( const base::State * state, const Control * control, double duration, base::State * result ) const

pure virtual

Propagate from a state, given a control, for some specified amount of time (the amount of time can also be negative, if canPropagateBackward() returns true).

Parameters

state	the state to start propagating from
control	the control to apply
duration	the duration for which the control is applied
result	the state the system is brought to

Note

This function is not used for integration internally. If integrating a system of differential equations is needed, this should be implemented inside the propagate() function.

The pointer to the starting state and the result state may be the same.

Implemented in KoulesStatePropagator.

steer()

virtual double ompl::control::StatePropagator::steer ( const base::State * , const base::State * , Control *  ) const

inlinevirtual

Compute the control that can take the system from state from to state to. Store that control in result; the duration for which the control should be applied is returned; return < 0.0 if the computation was successful; return the control duration otherwise;.

Note

If a negative value is returned, the content of result may have been changed, but it does not represent a solution;

Definition at line 111 of file StatePropagator.h.

Member Data Documentation

si_

SpaceInformation* ompl::control::StatePropagator::si_

protected

The instance of space information this state propagator operates on.

Definition at line 124 of file StatePropagator.h.

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The documentation for this class was generated from the following file:

• ompl/control/StatePropagator.h